2011 | OriginalPaper | Chapter
Time Delay
Authors : Wei Ren, Yongcan Cao
Published in: Distributed Coordination of Multi-agent Networks
Publisher: Springer London
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This chapter considers time delays in distributed multi-agent coordination. The time delays are inevitable in networked systems. Time-domain and frequency-domain approaches are used to study leaderless and leader-following coordination algorithms with communication and input delays under a directed interaction graph. We consider both the single-integrator and double-integrator dynamics and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained. Simulation results are presented to support the theoretical results.